sr_muscle_hand_lib.hpp

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/*
* @file   sr_muscle_hand_lib.hpp
* @author Ugo Cupcic <ugo@shadowrobot.com>, Toni Oliver <toni@shadowrobot.com>, contact <software@shadowrobot.com>
* @date   Tue Mar  19 17:12:13 2013
*
*
/* Copyright 2013 Shadow Robot Company Ltd.
*
* This program is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the Free
* Software Foundation version 2 of the License.
*
* This program is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
* more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @brief This is a library for the etherCAT muscle hand.
* You can find it instantiated in the sr_edc_ethercat_drivers.
*
*
*/

#ifndef _SR_MUSCLE_HAND_LIB_HPP_
#define _SR_MUSCLE_HAND_LIB_HPP_

#include "sr_robot_lib/sr_muscle_robot_lib.hpp"
#include <std_srvs/Empty.h>

// to be able to load the configuration from the
// parameter server
#include <ros/ros.h>
#include <string>
#include <vector>


namespace shadow_robot
{
template<class StatusType, class CommandType>
class SrMuscleHandLib :
        public SrMuscleRobotLib<StatusType, CommandType>
{
public:
  SrMuscleHandLib(hardware_interface::HardwareInterface *hw, ros::NodeHandle nh, ros::NodeHandle nhtilde,
                  std::string device_id, std::string joint_prefix);

  /*
   * Reset the muscle driver at motor index.
   *
   * @param request empty
   * @param response empty
   * @param muscle_driver_index The index of the muscle driver we're resetting
   *
   * @return true if success
   */
  bool reset_muscle_driver_callback(std_srvs::Empty::Request &request,
                                    std_srvs::Empty::Response &response,
                                    int muscle_driver_index);

#ifdef DEBUG_PUBLISHER
  /*
   * This is a service callback: we set the debug data we want to publish
   * at full speed in the debug topics.
   *
   * @param request Contains the motor index and the MOTOR_DATA type
   * @param response True if succeeded.
   *
   * @return true if succeeded.
   */
  bool set_debug_data_to_publish(sr_robot_msgs::SetDebugData::Request& request,
                                 sr_robot_msgs::SetDebugData::Response& response);
#endif

protected:
  /*
   * Initializes the hand library with the needed values.
   *
   * @param joint_names A vector containing all the joint names.
   * @param actuator_ids A vector containing the corresponding actuator ids.
   * @param joint_to_sensors A vector mapping the joint to the sensor index we read from the palm.
   */
  virtual void initialize(std::vector<std::string> joint_names, std::vector<int> actuator_ids,
                          std::vector<shadow_joints::JointToSensor> joint_to_sensors);

  /*
   * Initializes the hand library with the needed values.
   *
   * @param joint_names A vector containing all the joint names.
   * @param actuator_ids A vector containing the corresponding actuator ids.
   * @param joint_to_sensors A vector mapping the joint to the sensor index we read from the palm.
   */
  void initialize(std::vector<std::string> joint_names, std::vector<shadow_joints::JointToMuscle> actuator_ids,
                  std::vector<shadow_joints::JointToSensor> joint_to_sensors);

private:
  /*
   * Reads the mapping associating a joint to a muscle.
   * If the muscle index is -1, then no muscle is associated
   * to this joint.
   *
   *
   * @return a vector of JointToMuscle structures (containing the indexes of the muscles for the joint), ordered by joint.
   */
  std::vector<shadow_joints::JointToMuscle> read_joint_to_muscle_mapping();


  static const int nb_muscle_data;
  static const char *human_readable_muscle_data_types[];
  static const int32u muscle_data_types[];

#ifdef DEBUG_PUBLISHER
  ros::ServiceServer debug_service;
#endif
};
}  // namespace shadow_robot

/* For the emacs weenies in the crowd.
Local Variables:
   c-basic-offset: 2
End:
*/

#endif